How to access ADB shell on Samsung Galaxy S10 stuck in boot loop?

I have a Samsung Galaxy S10 that is rooted and the bootloader is unlocked. Recently, I disabled a series of system packages, and now my phone is stuck in a boot loop. I need to re-enable those packages to fix the boot loop, but I'm unable to access the ADB shell because the device shows as "unauthorized." Here's what I have tried so far:

adb devices
List of devices attached
R38MB0CN1MA unauthorized

Attempting to open ADB shell:

adb shell
adb: device unauthorized.
This adb server's $ADB_VENDOR_KEYS is not set
Try 'adb kill-server' if that seems wrong.
Otherwise check for a confirmation dialog on your device.

I need to access the ADB shell to re-enable the packages and get my phone out of the boot loop. How can I achieve this on a Mac? Additional Information: Phone: Samsung Galaxy S10 Rooted: Yes Bootloader: Unlocked Current Mode: Stuck in boot loop Any help or guidance on how to fix this issue would be greatly appreciated!